Autonomous working system, method and computer readable recording medium

ABSTRACT

An autonomous working system, an autonomous working method, and a computer readable recording medium are provided. The autonomous working system includes a master working robot and at least one slave working robot, in which the master working robot including a data receiving unit to receive information on space targeted for working, a sensing unit to sense the space targeted for working, a sensing setting unit to set a movement path of the master working robot, a sensing position, and a sensing angle of the sensing unit, and a first position determination unit to determine a position of the master working robot by comparing sensing data obtained through the sensing unit at the sensing position with reference map data, and the at least one slave working robot includes a second position determination unit that determines the position of the at least one slave working robot.

TECHNICAL FIELD

The present disclosure relates to an autonomous working system, anautonomous working method, and a computer readable recording medium, andmore specifically, to an autonomous working system, an autonomousworking method, and a computer readable recording medium, using aplurality of working robots including a position determining function.

BACKGROUND ART

With the development of technology, the area in which machines take overthe role of humans is gradually increasing. For example, there areprograms with human learning capabilities, or autonomous vehicles thatlimit human intervention to a minimum.

Machines or robots that perform various tasks in the task field byidentifying their own positions are increasing in actual application. Inorder for machines to identify their own positions in space bythemselves, expensive equipment with high complexity is required.

Meanwhile, to quickly perform various tasks in the field, more equipmentis used. Accordingly, more use of expensive equipment brings about anincrease in costs.

Therefore, there is a need for methods that can secure the accuracy oftask execution while using a simple system as possible.

DESCRIPTION OF EMBODIMENTS Technical Problem

The objectives of the present disclosure are to provide an autonomousworking system, an autonomous working method, and a computer readablerecording medium, in which tasks are performed using a plurality of taskequipment, and high accuracy and efficiency are obtained through simpleconfiguration.

Solution to Problem

In an autonomous working system including a master working robot and atleast one slave working robot, according to an embodiment of the presentdisclosure, the master working robot includes: a data receiving unit toreceive information on space targeted for working; a sensing unit tosense the space targeted for working; a sensing setting unit to set amovement path of the master working robot, a sensing position, and asensing angle of the sensing unit; and a first position determinationunit to determine a position of the master working robot by comparingsensing data obtained through the sensing unit at the sensing positionwith reference map data, and the slave working robot includes a secondposition determination unit that determines the position of the slaveworking robot.

In an embodiment, the second position determination unit may receive theinformation on the position of the master working robot, and determinethe position of the slave working robot in consideration of the receivedposition and the distance and angle between the slave working robot andthe master working robot.

In an embodiment, the slave working robot may further include a distancemeasuring unit to measure and/or calculate a distance to the masterworking robot and a distance to a specific point of the space targetedfor working.

In an embodiment, the autonomous working system may further include aposition information management unit to receive information on theposition of the master working robot from the first positiondetermination unit, wherein the second position determination unitreceives the information on the position of the master working robotfrom the position information management unit.

In an embodiment, the second position determination unit may receive aposition signal output from a transceiver provided at an arbitraryposition, and determine the position of the slave working robot from theposition signal.

In an embodiment, the master working robot may further include aninformation display unit to display task information on the spacetargeted for working, and the slave working robot may further include aworking unit to recognize the task information and perform a taskcorresponding to the recognition result.

In an embodiment, the task information may further include positioninformation corresponding to a position at which the task information isdisplayed, and the second position determination unit determines aposition of the slave working robot by using the position information.

In an embodiment, a position, at which the task information isdisplayed, may exist on the movement path of the master working robot.

In an embodiment, the sensing setting unit may set the sensing positionfor sensing the space targeted for working in consideration of referencemap data corresponding to the space targeted for working.

In an embodiment, the master working robot may further include a mapgenerating unit to generate the reference map from sensing data obtainedthrough the sensing unit at an arbitrary reference position.

An autonomous working method using an autonomous working systemincluding a master working robot and at least one slave working robot,according to an embodiment of the present disclosure, includes:receiving information regarding space targeted for working; setting amovement path of the master working robot, a sensing position, and asensing angle at the sensing position; determining a position of themaster working robot by comparing sensing data obtained at the sensingposition with reference map data, and determining a position of theslave working robot.

In an embodiment, the determining a position of the slave working robotmay include: receiving information on the position of the master workingrobot; and measuring and/or calculating a distance and angle between theslave working robot and the master working robot.

In an embodiment, in the determining the position of the slave workingrobot, a position signal output from a transceiver provided at anarbitrary position is received, and the position of the slave workingrobot is determined from the position signal.

In an embodiment, the autonomous working method may further include:displaying, by the master working robot, task information on the spacetargeted for working, and recognizing the task information andperforming a task corresponding to the recognition result, by the slaveworking robot.

In an embodiment, the task information may further include positioninformation corresponding to a position at which the task information isdisplayed, and, in the determining of the position of the slave workingrobot, the position of the slave working robot may be determined byusing the position information.

Meanwhile, provided is a computer-readable recording medium havingrecorded thereon a program for performing the autonomous working methodaccording to the present disclosure.

Advantageous Effects of Disclosure

The present disclosure provides an autonomous working system, anautonomous working method, and a computer readable recording medium, inwhich tasks are performed using a plurality of task equipment, and highaccuracy and efficiency are obtained through simple configuration.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 illustrates an example of a working robot to which an autonomousworking system is applied, according to the present disclosure.

FIG. 2 schematically illustrates a configuration of an autonomousworking system according to an embodiment of the present disclosure.

FIG. 3 schematically illustrates a configuration of a slave workingrobot according to an embodiment of the present disclosure.

FIG. 4 schematically illustrates a configuration of an autonomousworking system according to an embodiment of the present disclosure.

FIG. 5 schematically illustrates a configuration of an autonomousworking system according to an embodiment of the present disclosure.

FIG. 6 schematically illustrates a configuration of an autonomousworking system according to an embodiment of the present disclosure.

FIG. 7 schematically illustrates a configuration of a master workingrobot according to an embodiment of the present disclosure.

FIG. 8 illustrates a diagram illustrating a method of calculating aposition of a slave working robot through the relative positions of amaster working robot and a slave working robot.

FIG. 9 illustrates an example of the configuration of a working robot towhich an autonomous working system is applied, according to the presentdisclosure.

FIG. 10 illustrates an example of a data conversion process in whichreference map data is compared with sensing data to determine theposition of a master working robot.

FIG. 11 illustrates a diagram showing an example of a movement path of amaster working robot according to an embodiment of the presentdisclosure.

FIG. 12 illustrates an example of a reference map obtained through amaster working robot, according to an embodiment of the presentdisclosure.

FIG. 13 schematically illustrates an autonomous working method accordingto an embodiment of the present disclosure.

FIG. 14 schematically illustrates an autonomous working method accordingto an embodiment of the present disclosure.

FIG. 15 schematically illustrates an autonomous working method accordingto an embodiment of the present disclosure.

MODE OF DISCLOSURE

Advantages and features of the present disclosure and methods ofaccomplishing the same may be understood more readily by reference tothe following detailed description of embodiments and the accompanyingdrawings. However, the present disclosure may be embodied in manydifferent forms and should not be construed as being limited to theembodiments set forth herein, and it is to be appreciated that allchanges, equivalents, and substitutes that do not depart from the spiritand technical scope of the present disclosure are encompassed in thedisclosure. The embodiments set forth herein are provided so that thisdisclosure may be thorough and complete and may fully convey the scopeof the present disclosure to one of ordinary skill in the art. In thedescription of the disclosure, certain detailed explanations of therelated art are omitted when it is deemed that they may unnecessarilyobscure the essence of the present disclosure.

The terms used herein are merely used to describe particular embodimentsand are not intended to limit the present disclosure. An expression usedin the singular encompasses the expression of the plural, unless it hasa clearly different meaning in the context. In the presentspecification, it is to be understood that the terms such as “include”and “comprise” are intended to indicate the existence of features,numbers, steps, actions, components, parts, or combinations thereofdescribed in the specification and are not intended to preclude thepossibility that one or more other features, numbers, steps, actions,components, parts, or combinations thereof may exist or may be added.Advantages and features of the present disclosure and methods ofaccomplishing the same may be understood more readily by reference tothe following detailed description of embodiments and the accompanyingdrawings. However, the present disclosure may be embodied in manydifferent forms and should not be construed as being limited to theembodiments set forth herein, and it is to be appreciated that allchanges, equivalents, and substitutes that do not depart from the spiritand technical scope of the present disclosure are encompassed in thedisclosure. The embodiments set forth herein are provided so that thisdisclosure may be thorough and complete and may fully convey the scopeof the present disclosure to one of ordinary skill in the art. In thedescription of the disclosure, certain detailed explanations of therelated art are omitted when it is deemed that they may unnecessarilyobscure the essence of the disclosure.

The terms used herein are merely used to describe embodiments and arenot intended to limit the disclosure. An expression used in the singularencompasses the expression of the plural, unless it has a clearlydifferent meaning in the context. In the present specification, it is tobe understood that the terms such as “include” and “comprise” areintended to indicate the existence of features, numbers, steps, actions,components, parts, or combinations thereof described in thespecification and are not intended to preclude the possibility that oneor more other features, numbers, steps, actions, components, parts, orcombinations thereof may exist or may be added. While such terms as“first” and “second” may be used to describe various components, suchcomponents must not be limited to the above terms. The above terms areused only to distinguish one component from another.

FIG. 1 illustrates an example of a working robot to which an autonomousworking system is applied, according to the present disclosure.

According to the present disclosure autonomous working system mayperform various tasks in the workspace by using a plurality of workingrobots. Basically, the working robots may determine their positions inthe workspace, and may perform tasks assigned thereto at the positionwhere the working robots will perform their task.

Referring to FIG. 1 , an autonomous working system according to thepresent disclosure may be implemented through a plurality of workingrobots. The working robots may include at least one master working robotMaster and at least one slave working robot Slave. The master workingrobot may determine the position thereof in a space targeted forworking, and may display information on a task to be performed by theslave working robot.

The slave working robot may determine the position thereof based on theposition of the master working robot, and may recognize a task to beperformed by analyzing the information displayed by the master workingrobot and perform the recognized task.

In the present specification, the term “working robot” is used, but therobot is used only for the description of the present disclosure and thescope of the present disclosure is not necessarily limited by the term“robot”.

It may be understood that the master working robot and the slave workingrobot may move freely in the workspace, due to the including of adriving device that provides a driving force, and may move not only onthe ground but also in the air and underwater.

Meanwhile, although one master working robot and two slave workingrobots are illustrated in FIG. 1 , the present embodiment is an examplefor illustrative purpose only, and the scope of the present disclosureis not limited to the specific number.

FIG. 2 schematically illustrates a configuration of an autonomousworking system according to an embodiment of the present disclosure.

Referring to FIG. 2 , an autonomous working system 100 according to anembodiment of the present disclosure includes at least one masterworking robot 10 and at least one slave working robot 20. Meanwhile, themaster working robot 10 may include a data receiving unit 11, a sensingunit 12, a sensing setting unit 13, and a first position determinationunit 14, and the slave working robot 20 may include a second positiondetermination unit 21.

The data receiving unit 11 receives information on space targeted forworking. The space targeted for working refers to a space in which themaster working robot 10 and the slave working robot 20 perform tasks,and the information received by the data receiving unit 11 may includeinformation on a drawing corresponding to the space targeted forworking, and the location and size of walls, pillars, windows, etc.existing in the space targeted for working, for example, information onarchitectural and spatial elements of the space targeted for working. Inaddition, the data receiving unit 11 may receive information on a taskthat the master working robot 10 and the slave working robot 20 performin the space targeted for working.

Meanwhile, the information on the space targeted for working may includeinformation on the allowable movement ranges of the master working robot10 and the slave working robot 20. For example, the space targeted forworking may include a space in which walls, pillars, windows, etc. areto be provided, and there may be a space that the master working robot10 and the slave working robot 20 are not allowed to enter before theproviding of walls, pillars, windows, etc. In space where a wall has tobe built or an elevator has to be installed, a floor surface may bediscontinuous before a task is actually performed, and in some cases,the master working robot 10 and the slave working robot 20 may be indanger of falling. Accordingly, the information on the space targetedfor working may include information on the allowable movements range tolimit the movement ranges of the master working robot 10 and the slaveworking robot 20.

The data receiving unit 11 may be connected to the sensing unit 12 bywire or wirelessly, electrically or non-electrically to receive dataobtained from the sensing unit 12. Optionally, the data receiving unit110 may include a terminal, to which an external storage medium such asa universal serial bus (USB) port, a compact disc read-only memory(CD-ROM), etc. may be connected, and thus may receive data regarding thespace targeted for working stored in the external storage medium.Optionally, the data receiving unit 11 may be electrically connected toa separate input unit (not shown) and thus may receive data regardingthe space targeted for working input from the input unit. Optionally,the data receiving unit 11 may be electrically connected to a separatecomputing apparatus and thus may receive data regarding the spacetargeted for working from the computing apparatus.

The sensing unit 12 may sense the space targeted for working. Thesensing unit 12 may include at least one sensor and a driving unit suchas a motor that controls the rotational operation of the sensor, but isnot limited thereto. When the sensing range of the sensor is 360degrees, the driving unit such as the motor may not be included.Meanwhile, the master working robot 10 illustrated in FIG. 2 includesthe data receiving unit 11, the sensing unit 12, the sensing settingunit 13, and the first position determination unit 14. However, in someembodiments, the sensing setting unit 13 and the first positiondetermination unit 14 may exist independently at a position separatedfrom the master working robot 10.

Meanwhile, as the sensor, various types of sensors capable of sensingthe space targeted for working may be used. For example, the sensor maymeasure and/or calculate the distance to an object, sense the shape ofan object, or sense the movement of the master working robot 10. Such asensor may include a sensor using a laser or a sound wave, light waveand/or radio wave, an IMU sensor, a GPS sensor, and/or an imageobtaining sensor capable of obtaining a moving image and/or a stillimage, such as a camera. When the sensor includes a laser sensor, aLiDAR sensor may be included as an example of the laser sensor.

The sensing unit 12 may include at least one sensor described above, anda sensing precision degree may be improved by combining different typesof sensors. For example, the sensing precision degree with respect tothe space targeted for working may be improved by sensing the movementof the master working robot 10 using a LiDAR sensor, as a laser sensor,and an IMU sensor. In addition, a camera sensor may be optionally and/oradditionally included to allow the camera sensor to capture an image ofthe space targeted for working. For example, an image of a state and/ortexture of a certain surface, particularly, a floor surface of the spacetargeted for working may be captured, and thus, a movement and/or workpath of the master working robot 10 and/or the slave working robot 20may be set and/or corrected. In addition, a distance measurement sensormay be optionally and/or additionally included, and thus, a distance toa specific point, for example, a wall or a pillar, may be calculated.Accordingly, it is possible to reflect the measured position of aspecific point existing in the space targeted for working in settingand/or correcting the movement and/or work path of the master workingrobot 10 and/or the slave working robot 20. The various sensorcombinations of the sensing unit 12 as described may not be providedonly to master working robot 10. In some embodiments, some sensors ofthe sensing unit 12 may be provided to the slave working robot 20, andthe corresponding data is provided to the master working robot 10through communications. Accordingly, before and/or during working, themovement and/or work path of the master working robot 10 and/or theslave working robot 20 may be set and/or corrected. The configuration ofthe sensing unit 12 may be applied to all embodiments of the presentspecification.

The master working robot 10 may sense the surrounding space by using thesensor, and obtain the position of an object in the surrounding space inthe form of polar coordinates by using information on signals outputfrom the sensor and reflected. The motor allows the sensor to rotate byas much as a desired angle, for example, 360 degrees. A rotatingdirection of the sensor may be variously controlled according to thepurpose.

Meanwhile, horizontal rotation, horizontal movement, tilt and/orvertical movement of the sensor may be controlled by a separate drivingunit. Horizontal rotation, horizontal movement, tilt and/or verticalmovement of the sensor may be controlled independently of one another,and control signals for controlling the horizontal rotation, horizontalmovement, tilt and/or vertical movement may also be independentlygenerated and be provided to the driving unit.

The sensing setting unit 13 may set a movement path of the masterworking robot 10, a sensing position, and a sensing angle of the sensingunit 12. The sensing setting unit 13 sets the movement path, anddesignates an arbitrary point on the movement path to set the designatedpoint as a sensing position. In addition, if needed, according to thespace targeted for working, there are a plurality of sensing positions.Correspondingly, when the master working robot 10 reaches the sensingposition, the sensor performs a sensing operation, for example, ascanning operation. In this case, the sensor rotates according to thesensing angle set by the sensing setting unit 13.

Meanwhile, in another embodiment of the present disclosure, a sensingheight of the sensor may be adjusted, and the sensing setting unit 13may set a sensing angle and a sensing height of the sensor at a setsensing position. In addition, the sensing position and the sensingangle may be set in consideration of the characteristics of the spacetargeted for working.

In a case where it is difficult to obtain sensing data, for example, ina case of transmitting light without reflection, the sensing positionand the sensing angle may be arranged in empty space of the spacetargeted for working so that a position and an angle where a pillar, anobstacle, or the like may be sensed, may be set as the sensing positionand the sensing angle.

In the case where there is a drawing of the space targeted for working,the sensing setting unit 13 may set the movement path, the sensingposition, and the sensing angle of the sensor at the sensing position bytaking the drawing into account.

The master working robot 10 may be understood as performing a sensingoperation at a specific position on the movement path. The specificsensing position is designated to accurately identify a position of themaster working robot 10.

The specific position may be set as a limited number of positions, butis not limited thereto. In some embodiments, a sensing operation may becontinuously performed while moving on the movement path.

Meanwhile, the sensing angle refers to the sensing angle of the sensorat each sensing position and may be expressed in degrees or radians. Inaddition, the size of the sensing angle may be expressed based on aspecific coordinate axis, for example, an x-axis, or may be expressedbased on an angle of the sensor at a point in time when a sensingoperation in the very previous sensing position is ended.

The sensing setting unit may send an operation signal to a plurality ofdriving units of the master working robot 10 so as to set the movementpath of the master working robot 10, a sensing position, and a sensingangle of the sensing unit 12.

In one embodiment of the present disclosure, the master working robot 10stops at each of the sensing positions, and the sensor is rotated whilethe sensor is stopped at the sensing positions to sense, for example,scan the surrounding space. In another embodiment of the presentdisclosure, the master working robot 10 may not stop at the sensingposition and may sense, for example, scan a surrounding space throughthe sensor during moving. The first position determination unit 14determines the position of the master working robot 10 by comparingsensing data obtained through the sensing unit 12 at the a plurality ofsensing positions with reference map data.

The reference map data may be represented as coordinates of pixelsincluded in an image frame, and coordinates of a pixel corresponding toa position where an object exists may have a different value fromcoordinates of a pixel corresponding to an empty position. As describedabove, the data obtained through the sensor may be obtained in the formof polar coordinates, and when the reference map data and the sensingdata are compared, the position of the master working robot 10 withinthe space targeted for working may be determined.

More specifically, the first position determination unit 14 may convertthe reference map data into data in the form of polar coordinatesobtained through the sensor, and compare the data obtained by theconversion with the sensing data.

In another embodiment, the first position determination unit 14 mayreceive a position signal output from a transceiver (not shown) providedat an arbitrary position, and determine the position of the masterworking robot from the position signal. When the position of thetransceiver is determined, the transceiver may determine the position ofthe master working robot 10 based on its own position, and provide thedetermined position information to the first position determination unit14. The transceiver is provided indoors and communicates with the masterworking robot to help determine the position of the master working robot10. As another example, the transceiver may be provided to, for example,four corners of a building, and receive a GPS signal to recognize thecoordinate value of the building, and then based on the coordinatevalue, new signals may be transmitted to help determining of theposition of the master working robot 10.

In an embodiment, the first position determination unit 14 may determinethe position of the master working robot 10 in consideration of thedistance and angle data between the master working robot 10 and thetransceiver, and information on the position of the transceiver.Optionally, the first position determination unit 14 may sense theposition of a marker (not shown) provided at a certain position, anddetermine the position of the master working robot from the marker. Forexample, the first position determination unit 14 may determine theposition of the master working robot 10 in reverse from a position wherethe position of the marker is sensed and/or the analysis of the sensingdata.

The operation performed by the first position determination unit 14 aimsto determine the position of the master working robot 10 as accuratelyas possible, and the transceiver and/or marker is attached to anarbitrary position of the space targeted for working, for example, apillar or a wall, thereby transmitting the position signal and/orshowing a position.

However, a position of the transceiver and/or the marker is not limitedto an arbitrary position inside the space targeted for sensing. Forexample, when the space targeted for working is open space, a positionof the master working robot 10 may be traced even when the transceiverand/or the marker is positioned outside the space targeted for working.

The master working robot 10 may include a receiver (not shown) capableof determining a position of the transceiver receiving the positionsignal and transmitting the received position signal and a distanceand/or an angle with respect to the transceiver, and the receiver maydetermine a position of the master working robot 10 by taking intoaccount a position signal received from at least one transceiver.

The transceiver may be configured through a signal sharer or a beaconand may be used when it is difficult to determine an accurate positionof the master working robot 10 through comparison between the sensingdata and the reference map data.

The marker may mark a certain color or shape or a predetermined number,and the master working robot 10 may determine a position of the masterworking robot 10 by including a recognizing member that is capable ofrecognizing the color, the shape, or the number. Meanwhile, the markermay be displayed to be identifiable through a special device such as anultraviolet camera.

Meanwhile, the second position determination unit 21 of the slaveworking robot 20 determines the position of the slave working robot 20.The second position determination unit 21 may determine the position ofthe slave working robot 20 by using various methods, for example, suchmethod as used by the first position determination unit 14 to determinethe position of the master working robot 10. For example, the secondposition determination unit 21 may receive a position signal output froma transceiver provided at an arbitrary position, and may determine theposition of the slave working robot 20 from the position signal.Optionally, the second position determination unit 21 may determine theposition of the slave working robot 20 by sensing the position of themarker provided at an arbitrary position. The detailed method ofdetermining the position of the slave working robot 20 by the secondposition determination unit 21 is the same as the detailed method ofdetermining the position of the master working robot 10 by the firstposition determination unit 14, and thus a detailed description thereofwill be omitted.

In one or more embodiments, the second position determination unit 21may determine the position of the slave working robot 20 inconsideration of the information on the position of the master workingrobot 10 and the relative position relationship between the slaveworking robot 20 and the master working robot 10.

For example, the second position determination unit 21 receivesinformation on the position of the master working robot 10, anddetermines the position of the slave working robot 20 in considerationof the received position information and the distance and angle betweenthe slave working robot 20 and the master working robot 10.

The master working robot 10 may determine its own position through thefirst position determination unit 14, and the information on theposition of the master working robot 10 may be provided to the slaveworking robot 20. At this time, when relative position information, suchas angle information, between the master working robot 10 and the slaveworking robot 20 is obtained, the position of the slave working robot 20may be determined using the information on the position of the masterworking robot 10.

Meanwhile, the second position determination unit 21 may receive theinformation on the position of the master working robot 10 from thefirst position determination unit 14 in real time. Since the masterworking robot 10 and the slave working robot 20 may continuously move inthe space targeted for working, when the information on the position ofthe master working robot 10 is provided in real time, the position ofthe slave working robot 20 may be more accurately determined.

With reference to the accompanying drawings, an example of a method inwhich the second position determination unit 21 determines the positionof the slave working robot 20 will be described in more detail.

FIG. 3 schematically illustrates a configuration of a slave workingrobot according to an embodiment of the present disclosure.

Referring to FIG. 3 , according to another embodiment of the presentdisclosure, the slave working robot 20 includes the second positiondetermination unit 21 and a distance measuring unit 22. The secondposition determination unit 21 determines the position of the slaveworking robot 20 by using distance information measured by the distancemeasuring unit 22.

For example, the distance measuring unit 22 may measure the distancefrom the slave working robot 20 to the master working robot 10 or adistance to a specific point of the space targeted for working. Inaddition, the distance measuring unit 22 may further measure an anglebetween the slave working robot 20 and the master working robot 10.

The distance measuring unit 22 may use a laser method or a GPS method tomeasure a distance, for example, any method that a person skilled in theart may use.

In order to measure the angle between the slave working robot 20 and themaster working robot 10, after an arbitrary reference point is set andthe angle between the reference point and the direction in which thedistance measuring unit 22 is oriented is defined as 0°, the angle whenthe distance measuring unit 22 is oriented to the specific position ofthe master working robot 10, may be measured. Therefore, the specificposition may be set to a position corresponding to the sensor includedin the master working robot 10.

In one or more embodiments, the angle may be measured by using thedistance between each of the master working robot 10 and the slaveworking robot 20 and the wall of the space targeted for working, and thedistance between the master working robot 10 and the slave working robot20.

Meanwhile, the time at which the distance measuring unit 22 measures thedistance to the master working robot 10 and the time at which theinformation on the position of the master working robot 10 is providedfrom the first position determination unit 14 may synchronized with eachother. That is, the information on the position of the master workingrobot 10 and the distance from the slave working robot 20 to the masterworking robot 10 are obtained at the same time, so that the secondposition determination unit 21 may accurately obtain the position of theslave working robot 20.

FIG. 4 schematically illustrates a configuration of an autonomousworking system according to an embodiment of the present disclosure.

Referring to FIG. 4 , an autonomous working system 200 according toanother embodiment of the present disclosure includes the master workingrobot 10, the slave working robot 20, and a position informationmanagement unit 30. Since the master working robot 10 and the slaveworking robot 20 have substantially the same configuration as the masterworking robot 10 and the slave working robot 20 described with referenceto FIG. 2 , detailed descriptions of redundant content will be omitted.

The position information management unit 30 receives information on theposition of the master working robot 10 from the first positiondetermination unit 14, and the second position determination unit 21receives the information on the position of the master working robot 10from the position information management unit 30.

As described with reference to the preceding drawings, the secondposition determination unit 21 may determine the position of the slaveworking robot 20 by referring to the information on the position of themaster working robot 10, and the position information management unit 30may help the second position determination unit 21 determine theposition of the slave working robot 20 by providing the information onthe position of the master working robot 10 received from the firstposition determination unit 14 to the second position determination unit21.

The communication between the position information management unit 30and each of the first position determination unit 14 and the secondposition determination unit 21 may be embodied by any communicationmethod such as wired communication or wireless communication, and theinformation on the position of the master working robot 10 may beprovided to the second position determination unit 21 in real time tomake the second position determination unit 21 to accurately determinethe current position of the slave working robot 20.

FIG. 5 schematically illustrates a configuration of an autonomousworking system according to an embodiment of the present disclosure.

Referring to FIG. 5 , an autonomous working system 300 according toanother embodiment of the present disclosure includes the master workingrobot 10 and the slave working robot 20, wherein the master workingrobot 10 further includes an information display unit 15, and the slaveworking robot 20 may further include a working unit 23.

The information display unit 15 displays task information on at least aportion of the space targeted for working, and the working unit 23recognizes the task information and performs a task corresponding to therecognition result. The task information includes information on a taskthat the slave working robot 20 performs in the space targeted forworking, and, corresponds to the task information, the working unit 23may perform marking, drilling, welding, cutting, screwing, fastening,tightening, locking, punching, or the like. The marking may includemarking data using a pigment on the work surface, leaving scratches onthe work surface, partially etching the work surface with a laser, andmarking data on the work surface by using, for example, a line machine.Therefore, the working unit 23 may further include various tool units,such as a marking unit, a drill, a welding unit, a cutting unit, ascrewing unit, a locking unit, a tightening unit, a locking unit, and apunching unit, to perform marking, drilling, welding, cutting, ascrewing task, a tightening task, a binding task, a fastening task, orpunching.

Optionally, the working unit 23 may include a mowing unit so that thedata may be displayed by mowing the lawn when the lawn is planted on thefloor.

Optionally, the working unit 23 may include a plate unit to display athree-dimensional shape by pushing sand or a block.

Optionally, the working unit 23 may include a three-dimensional (3D)printing unit to print a 3D shape.

Optionally, the working unit 23 may include an arm unit capable ofstacking objects such as blocks in a 3D shape.

Optionally, the working unit 23 may be configured to perform a task ofproviding a specific device onto a wall, a pillar, a floor, or a ceilingin the space targeted for working. For example, the working unit 23 mayperform the task of providing an outlet onto a wall, a pillar, a floor,or a ceiling.

These various embodiments of the working unit 23 may be applied to allembodiments of the present specification.

The task information may be marked in a symbol that the working unit 23may recognize, for example, in at least one of a barcode, a QR code, anumber, or a character. Optionally, the task information may bedisplayed with a special photosensitizer that the working unit mayrecognize. For example, the photosensitizer may not be directlyidentified by the naked eye, and may be recognized by the working unit23. To this end, the working unit 23 may further include a sensing unitcapable of recognizing a special photosensitizer.

When an autonomous working system according to the present disclosureincludes a plurality of slave working robots, the information displayunit 15 may display different task information corresponding to therespective slave working robots. For example, when the slave workingrobots include a first robot and a second robot, the information displayunit 15 displays task information such as task information correspondingto the first robot is distinguished from task information correspondingto the second robot.

In an embodiment including a plurality of master working robotsincluding, for example, a first master robot and a second master robot,the task information may be displayed such that a single master robotmatches a single slave robot or a plurality of slave robots.

Meanwhile, the task information may further include position informationcorresponding to the position at which the task information isdisplayed. In this case, the second position determination unit 21 maydetermine the position of the slave working robot 20 by using theposition information.

Since the master working robot 10 can determine its own position, theinformation display unit 15 has position information to display the taskinformation. Accordingly, the information display unit 15 may includethe position information in the task information, and the secondposition determination unit 21 may determine the position of the slaveworking robot 20 by recognizing the task information.

The slave working robot 20 may have information on which position toperform the task in advance, but may not be able to determine its ownposition by itself. Accordingly, by comparing position informationincluded in the task information with information previously held, atask may be performed accurately.

Meanwhile, in another embodiment of the present disclosure, the masterworking robot 10 may display a separate mark corresponding to themovement path in the space targeted for working while moving along themovement path. For example, when the movement path of the master workingrobot 10 is a circle, the master working robot 10 may display a pathcorresponding to the movement path in the space targeted for working tobe a circle by using the information display unit 15. As describedabove, since the information display unit 15 displays task informationin the space targeted for working, the master working robot 10 displaysa mark corresponding to the movement path by using the informationdisplay unit 15 while moving along the movement path, and at the sametime, displays the task information.

The slave working robot 20 may move following the master working robot10 by tracking the path and/or the mark displayed by the informationdisplay unit 15, and when task information is detected during movement,the slave working robot 20 may perform a task corresponding to the taskinformation.

The information display unit 15 may display the path and/or the mark tobe identifiable with the naked eye, or may be displayed to benon-identifiable with the naked eye and identifiable only through aspecial device. For example, the information display unit 15 displaysthe path and/or the mark through, for example, applying aphotosensitizer that cannot be identified with the naked eye, and theslave working robot 20 may recognize the path and/or the mark byrecognizing the applied photosensitizer by using, for example, anultraviolet camera. However, the path and/or the mark is not limitedthereto, and the path and/or the mark may be displayed to be visible tothe naked eye. Accordingly, an administrator may check the accuracy ofthe path and/or the mark. The path and/or the mark may be formed byusing a material that is automatically erased after a period of timeafter the task is finished, but is not limited thereto, and may beformed by using a material that may be easily erased after the task isfinished.

Meanwhile, the path and/or the mark displayed by the information displayunit 15 may include position information. For example, the informationdisplay unit 15 may make a specific point A on the path and/or the markto have coordinate information of the point A. In an embodiment, thepath and/or the mark may include information on task informationdisplayed in the space targeted for working. For example, a specificpoint B may be marked with information that when a movement is done fromthe specific point B by C meter along the path and/or the mark, therewould be task information displayed.

FIG. 6 schematically illustrates a configuration of an autonomousworking system according to an embodiment of the present disclosure.

Referring to FIG. 6 , an autonomous working system 400 according toanother embodiment of the present disclosure includes the master workingrobot 10 and the slave working robot 20, and the master working robot 10further includes a first working unit 16, and the slave working robot 20further includes a second working unit 23. In FIG. 6 , configurations ofthe master working robot 10 and the slave working robot 20 other thanthe first working unit 16 and the second working unit 23 are notillustrated. However, this is for convenience of description, and themaster working robot 10 and the slave working robot 20 in the embodimentillustrated in FIG. 6 may also include other configurations described inthe previous embodiments than the first working unit 16 and the secondworking unit 23.

According to this configuration, the master working robot 10 performsits own task and at the same time instructs the slave working robot 20to perform a task. Accordingly, the master working robot 10 and theslave working robot 20 may perform tasks obtained by dividing the sametask, or perform different tasks at the same time.

To this end, the first working unit 16 and the second working unit 23may include: various tool units, for example, a marking unit, a drill, awelding unit, a cutting unit, a screwing unit, a fastening unit, atightening unit, a locking unit, and a punching unit, as describedabove; a mowing unit; a plate unit; a 3D printing unit; and/or an armunit. In an embodiment, the first working unit 16 and the second workingunit 23 may be configured to perform a task of providing a specificdevice onto a wall, a pillar, a floor, or a ceiling in the spacetargeted for working.

FIG. 7 schematically illustrates a configuration of a master workingrobot according to an embodiment of the present disclosure.

Referring to FIG. 7 , according to another embodiment of the presentdisclosure, the master working robot 40 may further include a referencemap generation unit 43, wherein the reference map generation unit 43 maygenerate a reference map from sensing data obtained by the sensing unitat an arbitrary reference position.

As described with reference to FIG. 2 , the reference map is used by thefirst position determination unit 45 to determine the position of themaster working robot 10, and may be generated from a drawingcorresponding to the space targeted for working. However, the referencemap generation unit 43 may directly generate a reference map that maymore accurately reflect the actual environment or characteristics of thespace targeted for working.

The reference position may be an arbitrary position within the spacetargeted for working, and generally, a middle point of the spacetargeted for working may be selected therefor. A position in which anobstacle is present, including a window, may not be suitable as thereference position. This is because when an obstacle exists nearby, itmay be difficult to obtain sensing data of a space behind the obstacleand/or a space associated with the obstacle. However, if necessary, thereference position may be an arbitrary position outside the spacetargeted for working.

In a case where it is difficult to obtain sensing data, for example, ina case of transmitting light without reflection, the reference positionmay be arranged in the empty space of the space targeted for sensing sothat a position where a pillar, an obstacle, or the like may be sensed,may be set as the sensing position.

On the other hand, when it is difficult to obtain complete sensing datadue to an obstacle, complete sensing data may be obtained by performinga first sensing at the reference position and then performing a secondsensing at an arbitrary position away from the obstacle.

Optionally and/or additionally, the reference map generation unit 43 maymeasure a distance to a specific point, such as a wall or pillar, byusing a distance measurement sensor as described above, and reflect thesame in the reference map data. By measuring the distance, for example,the center point of a column such as a pillar may be estimated, andbased on the assumption, a reference position may be set.

Optionally and/or additionally, the reference map generation unit 43 maymeasure the state of a specific surface, such as a floor surface, byusing an image capture sensor as described above, and may reflect thesame in the reference map data. In consideration of such statemeasurement, a movement path and/or a work path of a master workingrobot and/or a slave working robot to be described later may be set.

With the master working robot 40 stopped at the reference position, thesensor rotates 360 degrees to sense the space targeted for working togenerate the sensing data. In addition, if necessary, the sensing angleof the sensor included in the sensing unit 42 may be controlled upwardsor downwards through tilt control or the like. However, in the processof generating the sensing data for generating the reference map, theposition of the master working robot 40 may not be fixed to thereference position, and the sensing data may be generated while themaster working robot 40 moves within a predetermined reference space.

The reference map generation unit 43 may generate a reference map of thespace targeted for working from the sensing data, and may apply, forexample, a SLAM algorithm to the sensing data obtained at the referenceposition to generate the reference map.

The reference map may be configured to include image data of pixelsincluded in an image frame corresponding to the sensing data. Forexample, when the space targeted for working is represented as oneframe, a pixel corresponding to a position where an object exists may bedisplayed as black, and a position corresponding to empty space may bedisplayed as white.

However, this is merely an embodiment of a data format that thereference map data may include, the present disclosure is not limited toincluding color information regarding an individual pixel, and thereference map data may be represented in a format such as a vector, apolar coordinate, etc.

In another embodiment of the present disclosure, when the drawingcorresponding to the space targeted for working and the reference mapgenerated in the reference map generation unit 43 do not match eachother, weights may be given to each of the drawing and the referencemap, and information on the space targeted for working available in asensing setting unit 44 may be provided.

FIG. 8 illustrates a diagram illustrating a method of calculating aposition of a slave working robot through the relative positions of amaster working robot and a slave working robot.

Referring to FIG. 8 , a master working robot M and a slave working robotS are illustrated, d denotes a distance between the master working robotM and the slave working robot S, and I denotes the difference betweenthe distance from the master working robot M to a specific wall surfaceof the space targeted for working and the distance from the slaveworking robot S to the specific wall surface of the space targeted forworking. That is, the condition in which I=I_(m)−I_(s) is satisfied,I_(m) denotes the distance from the master working robot M to thespecific wall surface of the space targeted for working, and I_(s)denotes the distance from the slave working robot S to the specific wallsurface of the space targeted for working. In addition, θ denotes theangle between the master working robot M and the slave working robot S.

The master working robot M may measure the distance I_(m) to the wallsurface by using a sensor, and the slave working robot S may measure thedistance d to the master working robot M and the distance I_(s) to thewall surface by using the distance measuring unit 22 described withreference to FIG. 3 . Accordingly, the distance I may be calculated byusing the difference between I_(m) and I_(s), and the angle θ value maybe calculated by using the distance d measured through the distancemeasuring unit 22.

The second position determination unit of the slave working robot S maydetermine the position of the slave working robot S by using thedistance d and the angle θ, and position information of the masterworking robot M provided by the first position determination unit.Therefore, it may be understood that the I_(m) value calculated by themaster working robot M is provided to the second position determinationunit together with position information of the master working robot M.

In an embodiment, the second position determination unit may determinethe position of the slave working robot S by using coordinates includedin the information on the position of the master working robot M anddistances from each of the master working robot M and the secondposition determination unit to a pair of wall surfaces in the spacetargeted for working. In this case, the position of the slave workingrobot S may be determined even when the distance d value between themaster working robot M and the slave working robot S is not calculated.

In this regard, it is obvious to a person skilled in the art that I_(m)is the shortest distance between the master working robot M and the wallsurface and I_(s) is the shortest distance between the slave workingrobot S and the wall surface.

FIG. 9 illustrates an example of the configuration of a working robot towhich an autonomous working system is applied, according to the presentdisclosure.

Referring to FIG. 9 , the working robot, particularly, the masterworking robot, may include a sensor, for example, a sensor. The workingrobot may moves by using the configuration illustrated in FIG. 9 , forexample, a pair of wheels disposed on opposite sides of the body.Although not illustrated in FIG. 9 , the working robot may furtherinclude at least one wheel at a lower portion thereof, through which theworking robot may maintain the balance. However, the present disclosureis not limited thereto, and any configuration that provides power to theworking robot to enable movement to an arbitrary position may beincluded.

For example, the working robot may be configured to be able to fly likea drone, and may be configured through a plurality of pairs of drivingdevices. In addition, the working robot may be configured to move orperform a task even underwater. In an embodiment, the working robot maybe configured to be movable through a structure that mimics the legs ofhumans or animals.

As described with reference to FIG. 2 , since the position of the masterworking robot may be determined through the sensor, it may be consideredthat the position of the master working robot is substantially the sameas the position of the sensor. However, the present disclosure is notlimited to the present embodiment. For example, the position of aworking unit of the master working robot may be defined as the positionof the master working robot, and the position of the working unit may beaccurately adjusted by using the predetermined difference between theposition of the sensor and the position of the working unit.Hereinafter, in this specification, for convenience, it is assumed thatthe position of the sensor and the position of the master working robotare substantially the same.

The position of the working robot may be expressed in coordinates of(px, py) and may be rotated by a motor. In addition, the rotationdirection of the sensor may be variously controlled according to thepurpose. In this regard, an angle of the sensor may be denoted based onan x-axis of FIG. 9 , and a position of an object detected by the sensormay be denoted by polar coordinates of (θ_(L), d). In this regard, ddenotes a distance to the detected object.

Meanwhile, the master working robot may include a marking unit (notshown). The marking unit may be configured to freely move up and down,left and right to perform a task corresponding to the marking dataincluded in the information corresponding to the space targeted forworking received by the data receiving unit 11 described with referenceto FIG. 2 , and may display a certain mark at a specific position of thework surface corresponding to marking data or draw a line on themovement path.

FIG. 10 illustrates an example of a data conversion process in whichreference map data is compared with sensing data to determine theposition of a master working robot.

Referring to FIG. 10 , the reference map data may be represented in agrid format, and portions darker than other gird areas denote presenceof an object reflecting a signal of a laser sensor. Each grid area maybe represented as coordinates such as (x_(m,i), y_(m,i)) and (x_(m,l),y_(m,l)).

The first position determination unit 14 according to an embodiment ofthe present disclosure described with reference to FIG. 2 performs theoperation of comparing the reference map data and sensing data in orderto determine the position of the master working robot 10. Unlike thereference map data including grid data, the sensing data includes dataon a distance to and an angle with respect to an object. Accordingly,the first position determination unit 14 may convert the grid-typereference map data into distance data and angle data to compare thereference map data with the sensing data.

Referring to FIG. 10 , a position represented as coordinates of(x_(m,i), y_(m,i)) and (x_(m,l), y_(m,l)) in the reference map data maybe converted into polar coordinate data of (ϕ_(m,i), d_(m,i)) and(ϕ_(m,l), d_(m,l)), respectively, and the polar coordinate data matchesa data format of the sensing data. Accordingly, the first positiondetermination unit 14 may directly compare the converted reference mapdata and the sensing data, and determine the position of the masterworking robot 10 by using the comparison result.

However, each of the reference map data and the sensing data is notlimited to a grid format and a polar coordinate format, respectively,and the present disclosure is not limited to converting data in the gridformat into the polar coordinate format to compare two types of data.Accordingly, the reference map data and the sensing data may berepresented as data of other types instead of the grid format and thepolar coordinate format, and it is also possible to compare two types ofdata by converting the sensing data so as to correspond to a format ofthe reference map data.

In FIG. 10 , although a plurality of grid areas may be understood ascorresponding to respective pixels when represented through a displayapparatus, the present disclosure is not limited thereto, and one gridarea may correspond to a group of a plurality of pixels. The referencepoint for converting polar coordinates is not limited to the origin (0)as illustrated in FIG. 9 .

Meanwhile, when the sensing unit 12 obtains sensing data for an objectpresent in the space targeted for working, the first positiondetermination unit 14 compares the distance/angle data corresponding tothe sensing data with the converted reference map data to determinewhether there is matching data.

As a result of the determination, there may be various pieces ofmatching data, and the first position determination unit 14 may comparemany pieces of sensing data with the converted reference map data toimprove the accuracy in determining the position of the master workingrobot 10.

The first position determination unit 14 may determine the most reliableposition as a position of the master working robot 10 by comparing eachof many pieces of sensing data with the reference map data.

For example, when first sensing data to n-th sensing data are obtainedby using the sensor at the same position, the first positiondetermination unit 14 may search for reference map data corresponding tothe first sensing data. As a search result, there may be m pieces ofreference map data corresponding to the first sensing data, and thefirst position determination unit 14 may compare the second sensing datawith the m pieces of reference map data. After such a process isrepeatedly performed, a position where the first sensing data to n-thsensing data are obtained, that is, a position of the master workingrobot 10 may be ultimately detected.

To detect a position of the master working robot 10 by comparingreference map data with sensing data, the first position determinationunit 14 may use most recently obtained sensing data.

In FIG. 10 , positions a, b, and c are examples of some positions on amovement path of the master working robot 10, and description is givenbelow assuming that the master working robot 10 moves from position a toposition c and the sensor faces a direction from position a towardposition c.

The sensor may obtain sensing data by performing a sensing operation,for example, a scanning operation at positions a, b, and c, and when thesensor may sense only a limited range, for example, when the sensor maysense a total range of 180 degrees with ±90 degrees with respect to thefront, referring to FIG. 10 , data amounts of sensing data obtainedthrough the sensor at respective positions a, b, and c may be differentfrom one another.

For example, an amount of sensing data obtained at position a may begreater than an amount of sensing data obtained at position c. In thisregard, to detect a position of the master working robot 10 by comparingreference map data with sensing data when the master working robot 10 isat position c, the first position determination unit 14 may comparesensing data obtained at position b with the reference map data.

Since an amount of sensing data obtained at position a is greater thanthat of sensing data obtained at position b, computational speed may beincreased by comparing the sensing data obtained at position b with thereference map data.

Since the sensor may obtain sensing data by continuously performingsensing, for example, scanning, and the first position determinationunit 14 may continuously detect an accurate position of the masterworking robot 10 by using the sensing data, using data obtained at atime closest to a current time may be a way of improving accuracy ofposition detection.

FIG. 11 illustrates a diagram showing an example of a movement path of amaster working robot according to an embodiment of the presentdisclosure.

The movement path of the master working robot may include information onat least one sensing position and a sensing angle of the sensor.Referring to the embodiment illustrated in FIG. 11 , the master workingrobot performs a sensing operation, for example, a scanning operation,by using the sensor at a first point (x1, y1, θ1) to a seventh point(x7, y7, θ7).

FIG. 11 illustrates several specific sensing positions where the masterworking robot performs a sensing operation, and this is intended toaccurately identify a position of the master working robot.

However, a master working robot according to another embodiment of thepresent disclosure may continuously perform a sensing operation whilemoving along the movement path set without designating a specificsensing position.

Meanwhile, the sensing angle refers to the sensing angle of the sensorat each sensing position and may be expressed in degrees or radians. Asize of the sensing angle may be represented based on an x-axis or maybe represented based on an angle of the sensor corresponding to a timewhen a sensing operation at the very previous sensing position isfinished.

At each of the sensing positions, the master working robot stops, andwhile stopped at the sensing position, the sensor is rotated to sensethe surrounding space. However, as described above, the master workingrobot may continuously perform a sensing operation while moving alongthe movement path set without designating a specific sensing position.Accordingly, this may be understood as not performing a stop operationat the sensing position.

In addition, whether or not a position of the master working robotmatches the movement path may be determined by comparing sensing dataobtained through the sensing operation with the reference map data.

Accordingly, through an autonomous working system according to anembodiment of the present disclosure, the master working robot mayperform an operation of marking a specific mark or drawing a line at acorresponding position according to marking data while moving along aset movement path.

At the same time, whether or not a position of the master working robotmatches the movement path, which is previously set, may be determinedthrough a sensing operation performed through the sensor at a pluralityof sensing positions, and when the position of the master working robotdoes not match the movement path, the position may be controlled to movealong the movement path.

Although FIG. 11 illustrates a total of 7 sensing positions, the presentdisclosure is not limited thereto, and the sensing position may bevariously changed according to positions of a pillar, a window, anobstacle, etc. in the space targeted for sensing. In addition, whenthere is empty space within the space targeted for sensing, sensing maybe difficult to be performed in the empty space, and thus, the pluralityof sensing positions and the sensing angle may be set by taking intoaccount a position of the empty space.

FIG. 12 illustrates an example of a reference map obtained through amaster working robot, according to an embodiment of the presentdisclosure.

FIG. 12 illustrates a reference map obtained by using sensing dataobtained through a sensor at a reference position, and it may be foundthat reflection of a scan signal does not occur at a position whereglass exists and thus normal sensing data is not obtained starting froma position of the glass to the reference position.

It may also be found that sensing data is not normally obtained startingfrom space behind a pillar. Accordingly, when the reference map isgenerated using the sensing data obtained through the sensor, a positionwhere the glass exists and a position where the pillar or an obstacleexists within space targeted for sensing may be roughly determined.

When the reference map is generated by using sensing data obtained byrotating a sensor that is in a stop state, a distance increasesaccording to a size of the space targeted for sensing, and thus, thedegree of accuracy may decrease. Accordingly, the reference map may beused as reference data to set a movement path, a sensing position, and asensing angle of the master working robot.

In addition, when a drawing for the space targeted for working exists,using the drawing and the reference map together may help to implement amore accurate operation of the master working robot.

A movement path, a sensing position and/or a sensing angle of the masterworking robot may be set to obtain accurate sensing data regarding thespace targeted for sensing, and in FIG. 9 , a position and an anglespaced as far as possible from the glass and the pillar, including thereference position, may be set.

FIG. 13 schematically illustrates an autonomous working method accordingto an embodiment of the present disclosure.

An autonomous working method according to an embodiment of the presentdisclosure is an autonomous working method using an autonomous workingsystem including a master working robot and at least one slave workingrobot. Referring to FIG. 13 , the autonomous working method includes aninformation receiving operation (S10) and a sensing setting operation(S20), a master position determining operation (S30), and a slaveposition determining operation (S40).

In the information receiving operation (S10), information on spacetargeted for working is received. The space targeted for working refersto a space in which the master working robot and the slave working robotperform tasks, and the information received in the information receivingoperation (S10) may include information on a drawing corresponding tothe space targeted for working, and the position and size of walls,pillars, windows, etc. existing in the space targeted for working, forexample, information on architectural and spatial elements of the spacetargeted for working. In addition, in the information receivingoperation (S10), information on a task that the master working robot andthe slave working robot perform in the space targeted for working may bereceived.

Meanwhile, the information on the space targeted for working may includeinformation on the allowable movement ranges of the master working robotand the slave working robot. For example, the space targeted for workingmay include a space in which walls, pillars, windows, etc. are to beprovided, and there may be a space that the master working robot and theslave working robot are not allowed to enter before the providing ofwalls, pillars, windows, etc. In space where a wall has to be built oran elevator has to be installed, a floor surface may be discontinuousbefore a task is actually performed, and in some cases, the masterworking robot and the slave working robot may be in danger of falling.Accordingly, the information on the space targeted for working mayinclude information on the allowable movements range to limit themovement ranges of the master working robot and the slave working robot.In addition, the information on the space targeted for working mayinclude a specific point, such as a center position of a wall or pillar.These specific points may be used as a reference point during themovement and/or working of a master working robot and/or a slave workingrobot.

In the information receiving operation (S10), the sensor included in themaster working robot may be wired or wirelessly, electrically ornon-electrically connected and thus data obtained from the sensor may bereceived. In addition, in the information receiving operation (S10),data on the space targeted for working stored in an external storagemedium may be received. Optionally, in the information receivingoperation (S10), data on the space targeted for working input from theinput unit of the master working robot may be received. Optionally, inthe information receiving operation (S10), a master working robot may beelectrically connected to a separate computing apparatus and thus mayreceive data regarding the space targeted for working from the computingapparatus.

Meanwhile, the sensor may measure and/or calculate a distance to anobject, sense the shape of an object, or sense a movement of a masterworking robot. Such a sensor may include a sensor using a laser or asound wave, light wave and/or radio wave, an IMU sensor, a GPS sensor,and/or an image obtaining sensor capable of obtaining a moving imageand/or a still image, such as a camera. When the sensor includes a lasersensor, a LiDAR sensor may be included as an example of the lasersensor.

The master working robot may include at least one sensor describedabove, and the sensing precision degree may be improved by combiningdifferent types of sensors. For example, the sensing precision degreewith respect to the space targeted for working may be improved bysensing the movement of the master working robot using a LiDAR sensor,as a laser sensor, and an IMU sensor. In addition, a camera sensor maybe optionally and/or additionally included to allow the camera sensor tocapture an image of the space targeted for working. For example, animage of a state and/or texture of a certain surface, particularly, afloor surface of the space targeted for working may be captured, andthus, a movement and/or work path of the master working robot and/or theslave working robot may be set and/or corrected. In addition, a distancemeasurement sensor may be optionally and/or additionally included, andthus, a distance to a specific point, for example, a wall or a pillar,may be calculated. Accordingly, it is possible to reflect the measuredposition of a specific point existing in the space targeted for workingin setting and/or correcting the movement and/or work path of the masterworking robot and/or the slave working robot. The various sensorcombinations as described above do not need to be provided only to themaster working robot, and some sensors are provided to the slave workingrobot, and the corresponding data is provided to the master workingrobot through communications. Accordingly, before and/or during working,the movement and/or work path of the master working robot and/or theslave working robot may be set and/or corrected.

The master working robot may sense the surrounding space using thesensor in a stationary state and/or while moving, and may use theinformation on reflected signal of a signal output from the sensor toobtain the position of the object in the surrounding space in the formof polar coordinates. The motor allows the sensor to rotate as much as atarget angle, for example, 360 degrees, and the rotation direction ofthe sensor may be variously controlled according to the purpose.

Meanwhile, horizontal rotation, horizontal movement, tilt and/orvertical movement of the sensor may be controlled by a separate drivingunit. Horizontal rotation, horizontal movement, tilt and/or verticalmovement of the sensor may be controlled independently of one another,and control signals for controlling the horizontal rotation, horizontalmovement, tilt and/or vertical movement may also be independentlygenerated and be provided to the driving unit.

In the sensing setting operation (S20), a movement path, a sensingposition, and a sensing angle at the sensing position of the masterworking robot may be set. In an embodiment, in the sensing settingoperation (S20), the movement path is set, and an arbitrary point on themovement path is designated and the designated point is set as a sensingposition. In addition, depending on the space targeted for working, ifneeded, the sensing position may be set to a plurality of positions.Correspondingly, when the master working robot reaches the sensingposition, the sensor performs a sensing operation. In this case, thesensor rotates according to the sensing angle set in the sensing settingoperation (S20).

Meanwhile, in another embodiment of the present disclosure, a sensingheight of the sensor may be adjusted, and at the sensing position set inthe sensing setting operation (S20), a sensing angle and a sensingheight of the sensor may be set together. In addition, the sensingposition and the sensing angle may be set in consideration of thecharacteristics of the space targeted for working.

In a case where it is difficult to obtain sensing data, for example, ina case of transmitting light without reflection, the sensing positionand the sensing angle may be arranged in empty space of the spacetargeted for working so that a position and an angle where a pillar, anobstacle, or the like may be sensed, may be set as the sensing positionand the sensing data.

In the case where there is a drawing of the space targeted for working,in the sensing setting operation (S20), the movement path, the sensingposition, and the sensing angle of the sensor at the sensing positionmay be set by taking the drawing into account.

The master working robot may be understood as performing a sensingoperation at a specific position on the movement path. The specificsensing position is designated to accurately identify a position of themaster working robot.

The specific position may be set as a limited number of positions, butis not limited thereto. In some embodiments, a sensing operation may becontinuously performed while moving on the movement path.

Meanwhile, the sensing angle refers to the sensing angle of the sensorat each sensing position and may be expressed in degrees or radians. Inaddition, the size of the sensing angle may be expressed based on aspecific coordinate axis, for example, an x-axis, or may be expressedbased on an angle of the sensor at a point in time when a sensingoperation in the very previous sensing position is ended.

In the sensing setting operation (S20), an operation signal may betransmitted to a plurality of driving units of the master working robotso as to set the movement path of the master working robot, a sensingposition, and a sensing angle of the sensing unit.

In one embodiment of the present disclosure, the master working robotstops at each of the sensing positions, and the sensor is rotated whilethe sensor is stopped at the sensing positions to sense the surroundingspace. In another embodiment of the present disclosure, the masterworking robot may not stop at the sensing position and may sense thesurrounding space through the sensor during moving.

In the master position determining operation (S30), the position of themaster working robot is determined by comparing the sensing dataobtained at the sensing position with reference map data.

The reference map data may be represented as coordinates of pixelsincluded in an image frame, and coordinates of a pixel corresponding toa position where an object exists may have a different value fromcoordinates of a pixel corresponding to an empty position. As describedabove, data obtained through the sensor may be obtained in the form ofpolar coordinates, and when the reference map data is compared with thesensing data, a position of the master working robot in the spacetargeted for working may be determined. In this case, as describedabove, a specific point reflected in the reference map data, forexample, the center of a wall or pillar, may be compared with thesensing data.

In the master position determining operation (S30), the reference mapdata is converted into data in the form of polar coordinates obtainedthrough the sensor, and the data obtained by the conversion is comparedwith the sensing data.

In another embodiment of the present disclosure, in the master positiondetermining operation (S30), a position signal output from a transceiver(not shown) provided at an arbitrary position may be received, and theposition of the master working robot may be determined from the positionsignal. When the position of the transceiver is determined, in themaster position determining operation (S30), the position of the masterworking robot may be determined based on the position of thetransceiver. In an embodiment, in the master position determiningoperation (S30), the position of the master working robot may bedetermined in consideration of the distance from the master workingrobot to the transceiver, angle data between the master working robotand the transceiver, and information on the position of the transceiver.

Optionally, in the master position determining operation (S30), theposition of a marker (not shown) provided at an arbitrary position issensed, and the position of the master working robot may be determinedfrom the marker. For example, in the master position determiningoperation (S30), the position of the master working robot 10 may bedetermined in reverse from a position where the position of the markeris sensed and/or the analysis of the sensing data.

The operation performed in the master position determining operation(S30) aims to determine the position of the master working robot asaccurately as possible, and the transceiver and/or marker is attached toan arbitrary position of the space targeted for working, for example, apillar or a wall surface, thereby transmitting the position signaland/or showing a position.

However, a location of the transceiver and/or the marker is not limitedto an arbitrary position inside the space targeted for sensing. Forexample, when the space targeted for working is open space, a positionof the master working robot may be traced even when the transceiverand/or the marker is positioned outside the space targeted for working.

The master working robot 10 may include a receiver (not shown) capableof determining a position of the transceiver receiving the positionsignal and transmitting the received position signal and a distanceand/or an angle with respect to the transceiver, and the receiver maydetermine a position of the master working robot 10 by taking intoaccount a position signal received from at least one transceiver.

The transceiver may be configured through, for example, a signal shareror a beacon and may be used when it is difficult to determine anaccurate position of the master working robot through comparison betweenthe sensing data and the reference map data.

The marker may mark a certain color or shape or a predetermined number,and a receiver of may determine a position of the master working robotby recognizing the color, the shape, or the number. Meanwhile, themarker may be displayed to be identifiable through a special device suchas an ultraviolet camera.

In the slave position determining operation (S40), the position of theslave robot is determined. In the slave position determining operation(S40), various methods may be used to determine the position of theslave working robot, and the method used to determine the position ofthe master working robot in the master position determining operation(S30) may be applied. For example, in the slave position determiningoperation (S40), a position signal output from a transceiver provided atan arbitrary position may be received, and from the position signal, theposition of the slave working robot may be determined. Optionally, inthe slave position determining operation (S40), the position of theslave working robot may be determined by sensing the position of themarker provided at an arbitrary position. In the slave positiondetermining operation (S40), the detailed method of determining theposition of the slave working robot is the same as the detailed methodof determining of the master working robot in the master positiondetermining operation (S30), and thus a detailed description thereofwill be omitted.

In an embodiment, in the slave position determining operation (S40), theposition information of the master working robot and a relative positionrelationship between the slave working robot and the master workingrobot may be considered to determine the position of the slave workingrobot.

For example, in the slave position determining operation (S40),information on the position of the master working robot is received, andby considering the received position information and the distance andangle between the slave working robot and the master working robot, theposition of the slave working robot is determined.

The master working robot may determine its own position in a masterposition determining operation (S30), and the information on theposition of the master working robot may be provided to the slaveworking robot. At this time, when relative position information, such asangle information, between the master working robot and the slaveworking robot is obtained, the position of the slave working robot maybe determined using the information on the position of the masterworking robot.

Meanwhile, in the slave position determining operation (S40), theinformation on the position of the master working robot may be providedin real time from the master position determining operation (S30). Sincethe master working robot and the slave working robot may continuouslymove in the space targeted for working, when the information on theposition of the master working robot is provided in real time, theposition of the slave working robot may be more accurately determined.

FIG. 14 schematically illustrates an autonomous working method accordingto an embodiment of the present disclosure.

Referring to FIG. 14 , the autonomous working method according toanother embodiment of the present disclosure includes the informationreceiving operation (S10), the sensing setting operation (S20), themaster position determining operation (S30), a master position receivingoperation (S41), a relative-position-to-master determining operation(S42), and a slave position determining operation (S43). The informationreceiving operation (S10), the sensing setting operation (S20), themaster position determining operation (S30), and the slave positiondetermining operation (S43) are substantially the same as theinformation receiving operation (S10), the sensing setting operation(S20), the master position determining operation (S30), and the slaveposition determining operation (S40). Accordingly, redundantdescriptions thereof will be omitted herein.

In the master position receiving operation (S41), the information on theposition of the master working robot is received, and in therelative-position-to-master determining operation (S42), the distanceand the angle between the slave working robot and the master workingrobot are calculated.

As described with reference to FIGS. 3 and 8 , the slave working robotmay measure and/or calculate a distance to the master working robot byusing a distance calculation unit and may also measure and/or calculatea distance to a certain wall surface. Likewise, the master working robotmay measure and/or calculate the distance to the wall surface by using asensor or the distance calculation unit provided in the slave workingrobot.

When the information on the position of the master working robot isreceived in the master position receiving operation (S41), the positionof the slave working robot may be determined by using the relativeposition obtained in the relative-position-to-master determiningoperation (S42). Here, the relative position may be considered to referto a distance between a master working robot and a slave working robotand an angle between the master working robot and the slave workingrobot, or distances from the master working robot and the slave workingrobot to a pair of wall surfaces.

FIG. 15 schematically illustrates an autonomous working method accordingto an embodiment of the present disclosure.

Referring to FIG. 15 , an autonomous working method according to anotherembodiment of the present disclosure includes an information receivingoperation (S100), a sensing setting operation (S200), a master positiondetermining operation (S300), a task information displaying operation(S400), a task performing operation (S500), and a slave positiondetermining operation (S600). The information receiving operation(S100), the sensing setting operation (S200), the master positiondetermining operation (S300), and the slave position determiningoperation (S600) are substantially the same as the information receivingoperation (S10) and sensing setting operation (S20), the master positiondetermining operation (S30), and the slave position determiningoperation (S40). Accordingly, redundant descriptions thereof will beomitted herein.

In the task information displaying operation (S400), the master workingrobot displays task information in the space targeted for working. Inthe task performing operation (S500), the slave working robot recognizesthe task information and performs a task corresponding to therecognition result.

The task information includes information on a task that the slaveworking robot performs in the space targeted for working, and,corresponds to the task information, the slave working robot may performmarking, drilling, welding, cutting, screwing, fastening, tightening,locking, punching, or the like. The marking may include marking datausing a pigment on the work surface, leaving scratches on the worksurface, partially etching the work surface with a laser, and markingdata on the work surface by using, for example, a line machine.

Optionally, the slave working robot may perform a mowing task so thatthe data may be displayed by mowing the lawn when the lawn is planted onthe floor.

Optionally, the slave working robot may perform a task to display athree-dimensional shape by pushing sand or a block.

Optionally, the slave working robot may perform a 3D printing task toprint a 3D shape.

Optionally, the slave working robot may perform a task to stack objectssuch as blocks in a 3D shape.

Optionally, the slave working robot may be configured to perform a taskof providing a specific device onto a wall, a pillar, a floor, or aceiling in the space targeted for working.

The task information may be marked in a symbol that the slave workingrobot may recognize, for example, in at least one of a barcode, a QRcode, a number, or a character. Optionally, the task information may bedisplayed with a special photosensitizer that the working unit mayrecognize. For example, the photosensitizer may not be directlyidentified by the naked eye, and may be recognized by the working unit23. To this end, the working unit 23 may further include a sensing unitcapable of recognizing a special photosensitizer.

When an autonomous working system according to the present disclosureincludes a plurality of slave working robots, in the task informationdisplaying operation (S400), the slave working robots may displaydifferent task information corresponding to the respective slave workingrobots. For example, when the slave working robots include a first robotand a second robot, in the task information displaying operation (S400),task information may be displayed such that task informationcorresponding to the first robot is distinguishable from taskinformation corresponding to the second robot.

In an embodiment including a plurality of master working robotsincluding, for example, a first master robot and a second master robot,the task information may be displayed such that a single master robotmatches a single slave robot or a plurality of slave robots.

Meanwhile, in the slave position determining operation (S600), theposition of the slave working robot may be determined by using positioninformation included in the task information. Since the master workingrobot can determine its own position by itself, the task informationdisplayed in the task information displaying operation (S400) hasposition information on the corresponding position. Accordingly, in atask information displaying operation (S400), the position informationmay be included in the task information, and in a slave positiondetermining operation (S600), the position of the slave working robotmay be determined by recognizing the task information.

The slave working robot may have information on which position toperform the task in advance, but may not be able to determine its ownposition by itself. Accordingly, by comparing position informationincluded in the task information with information previously held, atask may be performed accurately.

Meanwhile, in another embodiment of the present disclosure, the masterworking robot may display a separate mark corresponding to the movementpath in the space targeted for working while moving along the movementpath. For example, when the movement path of the master working robot isa circle, the master working robot may display a path corresponding tothe movement path in the space targeted for working to be a circle. Asdescribed above, while moving along the movement path, the masterworking robot may display a mark corresponding to the movement path andperform a task to display the task information.

The slave working robot may move following the master working robot bytracking the displayed path and/or the mark, and when task informationis detected during movement, the slave working robot may perform a taskcorresponding to the task information detected at the correspondingposition.

The master working robot may display the path and/or the mark to beidentifiable with the naked eye, or may be displayed to be identifiableonly through a special device. For example, the master working robotdisplays the path and/or the mark through, for example, applying aphotosensitizer that cannot be identified with the naked eye, and theslave working robot may recognize the path and/or the mark byrecognizing the applied photosensitizer by using imaging equipment, forexample, an ultraviolet camera. However, the path and/or the mark is notlimited thereto, and the path and/or the mark may be displayed to bevisible to the naked eye. Accordingly, an administrator may check theaccuracy of the path and/or the mark. The path and/or the mark may beformed by using a material that is automatically erased after a periodof time after the task is finished, but is not limited thereto, and maybe formed by using a material that may be easily erased after the taskis finished.

Meanwhile, the path and/or the mark displayed by the master workingrobot may include position information. For example, the master workingrobot may make a specific point A on the path and/or the mark to havecoordinate information of the point A. In an embodiment, the path and/orthe mark may include information on task information displayed in thespace targeted for working. For example, a specific point B may bemarked with information that when a movement is done from the specificpoint B by C meter along the path and/or the mark, there would be taskinformation displayed.

Optionally, like a slave working robot, the master working robot mayperform various tasks. Accordingly, the master working robot performsits own task and at the same time instructs a task to the slave workingrobot. Accordingly, the master working robot and the slave working robotmay perform tasks obtained by dividing the same task, or performdifferent tasks simultaneously.

All the embodiments of the present disclosure described above may beapplied in combinations to other embodiments.

The present disclosure may be embodied as computer-readable code in acomputer-readable recording medium. The computer-readable recordingmedium may be any recording apparatus capable of storing data readableby a computer system. Examples of the computer-readable recording mediuminclude read-only memory (ROM), random-access memory (RAM), CD-ROM, amagnetic tape, a floppy disk, and an optical data storage device.

In addition, the computer-readable recording medium may be distributedover network-coupled computer systems so that the computer-readable codemay be stored and executed in a distributive manner. In addition,functional programs, code, and code segments for embodying the presentdisclosure may be easily inferred by programmers skilled in the art towhich the present disclosure pertains.

The operations of all methods described herein may be performed in anysuitable order unless otherwise indicated herein or otherwise clearlycontradicted by the context. However the present disclosure is notlimited to any order of operations indicated above.

The use of any and all examples or exemplary language (e.g., “such as”)provided herein is intended merely to better illuminate the presentdisclosure and does not pose a limitation on the scope of the presentdisclosure unless otherwise claimed. It will be understood by one ofordinary skill in the art that various modifications, adaptations, andchanges may be made according to design conditions and factors withoutdeparting from the scope of the appended claims and equivalents thereof.

Accordingly, the spirit of the present disclosure should not be limitedto the embodiments described above, and it will be understood that notonly the appended claims but also all the scopes equivalent of theclaims or equivalently changed therefrom are included in the spirit ofthe disclosure.

INDUSTRIAL AVAILABILITY

The present disclosure may be used for an autonomous working system, anautonomous working method, and a computer readable recording medium, inwhich a plurality of working robots including a position determinefunction are used.

The invention claimed is:
 1. An autonomous working system comprising amaster working robot and at least one slave working robot, wherein themaster working robot comprises: a data receiving unit to receiveinformation on space targeted for working; a sensing unit to sense thespace targeted for working; a sensing setting unit to set a movementpath of the master working robot, a sensing position, and a sensingangle of the sensing unit; and a first position determination unit todetermine a position of the master working robot by comparing sensingdata obtained through the sensing unit at the sensing position withreference map data, and the at least one slave working robot comprises asecond position determination unit that determines a position of the atleast one slave working robot, the master working robot furthercomprises an information display unit to display task information on thespace targeted for working, the at least one slave working robot furthercomprises a working unit to recognize the task information and perform atask corresponding to the recognition result, and a position at whichthe task information is displayed exists on the movement path of themaster working robot.
 2. The autonomous working system of claim 1,wherein the second position determination unit receives the informationon the position of the master working robot, and determines the positionof the at least one slave working robot in consideration of the receivedposition and the distance and angle between the at least one slaveworking robot and the master working robot.
 3. The autonomous workingsystem of claim 2, wherein the at least one slave working robot furthercomprises a distance calculation unit to calculate a distance to themaster working robot and a distance to a specific point of the spacetargeted for working.
 4. The autonomous working system of claim 2,further comprising a position information management unit to receiveinformation on the position of the master working robot from the firstposition determination unit, wherein the second position determinationunit receives the information on the position of the master workingrobot from the position information management unit.
 5. The autonomousworking system of claim 1, wherein the second position determinationunit receives a position signal output from a transceiver provided at anarbitrary position, and determines the position of the at least oneslave working robot from the position signal.
 6. The autonomous workingsystem of claim 1, wherein the task information further comprisesposition information corresponding to the position at which the taskinformation is displayed, and the second position determination unitdetermines the position of the at least one slave working robot by usingthe position information.
 7. The autonomous working system of claim 1,wherein the sensing setting unit sets the sensing position for sensingthe space targeted for working in consideration of reference map datacorresponding to the space targeted for working.
 8. The autonomousworking system of claim 7, wherein the master working robot furthercomprises a map generating unit to generate the reference map fromsensing data obtained through the sensing unit at an arbitrary referenceposition.
 9. An autonomous working method using an autonomous workingsystem comprising a master working robot and at least one slave workingrobot, the autonomous working method comprising: receiving informationregarding space targeted for working; setting a movement path of themaster working robot, a sensing position, and a sensing angle at thesensing position; determining a position of the master working robot bycomparing sensing data obtained at the sensing position with referencemap data, and determining a position of the at least one slave workingrobot wherein the autonomous working method further comprises:displaying, by the master working robot, task information on the spacetargeted for working; and recognizing the task information andperforming a task corresponding to the recognition result, by the atleast one slave working robot, and wherein a position at which the taskinformation is displayed exists on the movement path of the masterworking robot.
 10. The autonomous working method of claim 9, wherein thedetermining a position of the at least one slave working robotcomprises: receiving information on the position of the master workingrobot; and calculating the received position and a distance and anglebetween the slave working robot and the master working robot.
 11. Theautonomous working method of claim 9, wherein in the determining theposition of the at least one slave working robot, a position signaloutput from a transceiver provided at an arbitrary position is received,and the position of the at least one slave working robot is determinedfrom the position signal.
 12. The autonomous working method of claim 9,wherein the task information further comprises position informationcorresponding to the position at which the task information isdisplayed, and in the determining of the position of the at least oneslave working robot, the position of the at least one slave workingrobot is determined by using the position information.
 13. Acomputer-readable recording medium having recorded thereon a program forperforming the autonomous working method of claim 9.